Mysterious negative sign required sometimes #105 #188
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The rotations returned by the function axis_rotation() are the transposed to the ones we expected. Using Modelica for reference, the same function returns the transpose to the Julia's ones :
https://github.com/modelica/ModelicaStandardLibrary/blob/afba9aad9216b472b856b259a002c934b46e6786/Modelica/Mechanics/MultiBody/Frames/axisRotation.mo#L12
This allows to get rid of the suspicious need for the "neg_w" boolean.
I have a doubt for the quaternions, if the transpose is only needed on the rotation matrix or on the angular velocity as weel.
GitHub issue : #105